CN113532253A - Method and system for detecting side-pulling lateral bending of suspension arm of heavy crane - Google Patents
Method and system for detecting side-pulling lateral bending of suspension arm of heavy crane Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 85
- 238000005452 bending Methods 0.000 title claims abstract description 69
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- 230000010365 information processing Effects 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 22
- 238000001914 filtration Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a method and a system for detecting the sidewise pull lateral bending of a heavy crane boom, which are used for respectively acquiring satellite signals at the top end and the bottom end of the crane boom and generating RTK differential data according to the satellite signals at the bottom end; acquiring positioning information of a three-dimensional rectangular coordinate system according to a satellite signal at the top end of a crane jib and RTK differential data; respectively acquiring orientation information between two set points which are arranged from the top end to the bottom end of the crane jib and are close to the top end and orientation information between two set points which are arranged from the bottom end to the top end of the crane jib and are close to the bottom end; and according to the positioning information and the orientation information, performing projection calculation to obtain a two-dimensional radar map. The invention is convenient for a crane operator to know the bending state of the suspension arm more visually, and greatly reduces the risk of side-pulling and side-bending fracture of the suspension arm; the artificial culture cost and the risk cost are reduced; the intelligent degree of the crane is improved.
Description
Technical Field
The invention relates to the technical field of heavy cranes, in particular to a system and a method for detecting a sidewise pull lateral bend of a boom of a heavy crane.
Background
When a large crane works, the condition that the suspension arm is bent or even broken can occur when the lifted object is too heavy or the inclined pulling angle is too large, but the bending degree of the suspension arm cannot be accurately judged by the aid of vision only because the visual field of a crane operator is limited, quantitative data is not available, the driver can only judge and control the suspension arm by the aid of experience, great unpredictable risk exists, and labor cost is increased invisibly.
Through search, the following results are found:
chinese patent invention CN103359622B entitled safety control system for crane and its boom, detection method, control device and system for boom side bending amount, discloses a detection method for boom side bending amount, which comprises detecting distance L between boom head and boom tail of boom, detecting deflection angle theta of actual position of connecting line of boom head and boom tail relative to theoretical position of connecting line in working state of boom; and calculating the side bending amount P of the suspension arm according to the distance L and the deflection angle theta. The detection control device, the detection control system, the suspension arm safety control system and the crane are also provided. The invention breaks through the method that the side bending amount of the suspension arm is obtained by relying on a finite element method in the prior art, and the obtained side bending amount of the suspension arm is a real value instead of being calculated based on a mechanical theory. The detecting system for the boom side bending amount is arranged on the crane, and the boom side bending amount is obtained according to the actual working condition during measurement instead of the characteristic of the boom during working, so that the detecting system is suitable for the real-time working condition of the boom and is not influenced by various factors such as fields, wind loads, the operating proficiency of workers and the like, and the measured side bending amount is more accurate and reliable. However, the method still has the following problems:
the method measures the distance of a theoretical state and the distance of an actual state by adopting a rope winding and ranging combined mode, so that the lateral bending amount is known, but the measurement result of the method is the integral lateral bending degree, the specific pull-down lateral bending degree and the specific side-pull lateral bending degree cannot be known, and an intuitive bending result cannot be given, namely whether the suspension arm is bent by a downward force or a lateral pulling force cannot be distinguished. And the ranging of the mechanical structure can cause the reduction of precision along with the problems of abrasion and the like, and the maintenance cost is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for detecting the sidewise pull lateral bending of the suspension arm of the heavy crane.
According to one aspect of the invention, a method for detecting a sidewise pull lateral bend of a boom of a heavy-duty crane is provided, which is characterized by comprising the following steps:
respectively acquiring satellite signals of set positions of the top end and the bottom end of a suspension arm of a crane, and generating RTK differential data according to the satellite signals at the bottom end;
obtaining positioning information of a three-dimensional rectangular coordinate system according to the satellite signal at the top end of the crane jib and the RTK differential data;
respectively acquiring orientation information between two set points which are arranged from the top end to the bottom end of the crane jib and are close to the top end and orientation information between two set points which are arranged from the bottom end to the top end of the crane jib and are close to the bottom end;
according to the positioning information and the orientation information, performing projection calculation to obtain a two-dimensional radar map; wherein:
the center point of the radar map is a projection point of the crane jib in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the crane jib is bent, the distance between the deflection point and the projection point is the distance of the crane jib bending deflection, and the detection of the side-pulling and side-bending of the crane jib is completed.
Preferably, the acquiring a satellite signal of the top end of the crane boom comprises:
and installing a positioning system at a set position at the top end of the crane jib, wherein the obtained satellite signal of the positioning system is the satellite signal at the top end of the crane jib.
Preferably, the acquiring a satellite signal of the bottom end of the crane boom and generating RTK differential data includes:
and installing a base station system at a set position at the bottom end of the suspension arm of the crane to acquire a satellite signal, and sending RTK differential data through a radio station.
Preferably, the first and second electrodes are formed of a metal,
the obtained positioning information of the rectangular coordinate system of the three-dimensional space comprises:
the crane jib top setpoint sets up the positional information on the X, Y, the Z three direction of position for the crane jib low end, wherein: the X axis and the Y axis are on the horizontal plane of the earth, the Y axis is coincident with the true north direction of the earth, the X axis is vertical to the Y axis, and the Z axis is coincident with the plumb line of the earth.
Preferably, the acquiring of the orientation information between the two set points in the top-to-bottom direction of the crane boom and near the top end comprises:
and arranging a main antenna at the top end of the crane boom in a main-auxiliary antenna mode, and arranging an auxiliary antenna at a position which is m meters away from the top end of the crane boom to obtain the directional information from the main antenna to the auxiliary antenna.
Preferably, m is 2.
Preferably, the acquiring of the orientation information between the two set points in the direction from the bottom end to the top end of the crane boom and close to the bottom end comprises:
and arranging a main antenna at the bottom end of the crane boom in a main-auxiliary antenna mode, and arranging a slave antenna at a position n meters away from the bottom end of the crane boom to obtain the directional information from the main antenna to the slave antenna.
Preferably, the value of n is 5.
Preferably, the orientation information includes: the included angle between the projection of the antenna vector line on the horizontal plane and the true north direction of the earth is a deflection angle, and the included angle between the master antenna vector line and the slave antenna vector line on the horizontal plane of the earth is a pitch angle.
Preferably, the obtaining a two-dimensional radar map by projection calculation according to the positioning information and the orientation information includes:
filtering and resolving the positioning information and the orientation information to obtain two vector lines in a three-dimensional rectangular coordinate system, wherein the two vector lines comprise:
acquiring positioning information and orientation information of the top end and the bottom end of the crane boom respectively, wherein the positioning point of the top end of the crane boom is (x1, y1, z1) and the direction is (a 1, θ 1), the positioning point of the bottom end of the crane boom is (x0, y0, z0) and the direction is (a 0, θ 0);
then:
the rectangular coordinate system vector line at the top end of the suspension arm of the crane is as follows:
the rectangular coordinate system vector line of the bottom end of the suspension arm of the crane is as follows:
and obtaining a two-dimensional radar map by projecting the vector lines onto a two-dimensional plane by using the vector lines.
Preferably, the method further comprises:
and sending the two-dimensional radar map to a display terminal.
According to another aspect of the invention, there is provided a heavy crane boom sidewise pull lateral bend detection system comprising: a base station system, a positioning system and an information processing system; wherein:
the base station system comprises a base station module, a base station main antenna and a base station slave antenna; the base station module is arranged at the bottom end of a crane boom and used for acquiring satellite signals and sending RTK differential data to the positioning system through a radio station; the base station main antenna is arranged at the bottom end of the crane boom, the base station slave antenna is arranged at a position close to the bottom end in the direction from the bottom end to the top end of the crane boom, and the base station module acquires directional information from the base station main antenna to the base station slave antenna and sends the directional information to the information processing system;
the positioning system comprises a positioning module, a positioning main antenna and a positioning auxiliary antenna; the positioning module is arranged at the top end of a crane boom and used for receiving the RTK differential data, performing differential settlement according to a satellite signal of the positioning module, obtaining positioning information of a three-dimensional rectangular coordinate system with the base station module as a central point and sending the positioning information to the information processing system; the positioning main antenna is arranged at the top end of the crane boom, the positioning slave antenna is arranged at a position close to the top end in the direction from the top end to the bottom end of the crane boom, and the positioning module acquires directional information from the positioning main antenna to the positioning slave antenna and sends the directional information to the information processing system;
the information processing system carries out filtering calculation according to the received information to obtain two vector lines in a three-dimensional rectangular space coordinate system, and a two-dimensional radar chart is obtained through projection calculation; the center point of the radar map is a projection point of the suspension arm in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the suspension arm is bent, and the distance between the deflection point and the projection point is the distance of deflection of the suspension arm in bending.
Preferably, the system further comprises a control terminal, wherein the control terminal is in communication connection with the information processing system;
the control terminal comprises a display module and a console; wherein:
the display module is used for displaying the two-dimensional radar map;
the console, through the information processing system, implements any one or more of the following functions:
-making parameter adjustments to the base station system and/or the positioning system;
-base station position calibration of the base station system;
-setting the station frequency band;
-an alarm module is provided, which presets a distance threshold value, and alarms when the offset distance is greater than or equal to the distance threshold value;
-acquiring a current two-dimensional radar map in real time.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
according to the method and the system for detecting the sidewise pull and side bend of the suspension arm of the heavy crane, the sidewise bend amount of the suspension arm is obtained by comparing the angle difference value and the position difference value of the actual state vector line and the ideal state vector line of the suspension arm, a crane operator can conveniently and visually know the bending state of the suspension arm, and the risk of the sidewise pull and side bend of the suspension arm being broken is greatly reduced.
The detection method and the detection system for the sidewise pulling and side bending of the heavy crane boom reduce the artificial cultivation cost and the risk cost.
According to the method and the system for detecting the sidewise pull bending of the heavy crane boom, the RTK positioning and orienting sidewise pull bending is adopted, the bending degree in each direction can be accurately given, and an operator can conveniently find and determine problems in time.
The method and the system for detecting the sidewise pulling and side bending of the heavy crane boom can provide a real-time radar map, and an operator can conveniently and visually know the bending condition.
According to the detection method and the detection system for the sidewise pulling and side bending of the heavy crane boom, provided by the invention, the whole measurement adopts static measurement, the problem of abrasion maintenance does not exist, the installation is simple, the wireless positioning is adopted, and the wiring installation on the whole boom is not needed.
The detection method and the detection system for the sidewise pulling and side bending of the heavy crane boom improve the intelligent degree of the crane and further improve the brand competitiveness.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a flowchart of a method for detecting a sidewise pull lateral bend of a boom of a heavy-duty crane according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of a system for detecting a sidewise bending of a boom of a heavy-duty crane according to an embodiment of the present invention; the system comprises a base station module 1, a master antenna of the base station 2, a slave antenna of the base station 3, a positioning module 4, a master antenna of the positioning 5, a slave antenna of the positioning 6, an actual state of a suspension arm A, an ideal state of the suspension arm B, a bending angle beta and an offset distance d.
FIG. 3 is a radar chart after projection in a preferred embodiment of the present invention; wherein: c is the positioning point of the top end of the crane jib on the projection plane, X3 and Y3 are the distances between the positioning point of the top end of the crane jib and the central point on the X axis and the Y axis after projection, r is the distance between the positioning point of the top end of the crane jib and the positioning point of the bottom end of the crane jib after projection, and the central point is the point of the positioning point of the bottom end of the crane jib on the projection plane.
FIG. 4 is a schematic view of a vector line projection in accordance with a preferred embodiment of the present invention; wherein: and a vector line I on the origin of the coordinate system is a vector line formed by the master-slave antennas at the bottom end of the crane jib, and the other vector line II is a vector line formed by the master-slave antennas at the top end of the crane jib.
FIG. 5 is a schematic view of the relationship between the crane boom and the radar chart in a preferred embodiment of the present invention; wherein: the plane of the x axis and the y axis is a vertical section of the crane jib in an ideal state, d is an offset distance of a positioning point at the top end of the crane jib in the ideal state and an actual state, a radar graph on the right side in the graph is a radar graph obtained by looking from the direction of an ideal state extension line, the greater the offset distance d is, the greater the bending distance of the crane jib is, the direction of the jib stress can be obtained by judging that the positioning point is in a quadrant of the radar graph, and an operator can conveniently find and position dangers more quickly.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Fig. 1 is a flowchart of a method for detecting a sidewise bending of a boom of a heavy-duty crane according to an embodiment of the present invention.
As shown in fig. 1, the method for detecting a sidewise bending of a boom of a heavy-duty crane provided by this embodiment may include the following steps:
s100, respectively acquiring satellite signals of set positions at the top end and the bottom end of a crane jib, and generating RTK differential data according to the satellite signals at the bottom end;
s200, obtaining positioning information of a three-dimensional rectangular coordinate system according to the satellite signal at the top end of the crane jib and the RTK differential data;
s300, respectively acquiring orientation information between two set points which are arranged from the top end to the bottom end of the crane jib and are close to the top end and orientation information between two set points which are arranged from the bottom end to the top end of the crane jib and are close to the bottom end;
s400, according to the positioning information and the orientation information, performing projection calculation to obtain a two-dimensional radar map; wherein:
the center point of the radar map is a projection point of the crane boom in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the crane boom is bent, the distance between the deflection point and the projection point is the offset distance of the crane boom bending, and the detection of the side-pulling and side-bending of the crane boom is completed.
In S100, as a preferred embodiment, acquiring a satellite signal of the top end of the boom of the crane may include the following steps:
and mounting the positioning system at a set position at the top end of the suspension arm of the crane, wherein the obtained satellite signal of the positioning system is the satellite signal at the top end of the suspension arm of the crane.
In S100 of this embodiment, as a preferred embodiment, acquiring a satellite signal of the bottom end of the boom of the crane and generating the RTK differential data may include the following steps:
and mounting the base station system at a set position at the bottom end of a suspension arm of the crane to acquire a satellite signal, and sending RTK differential data through a radio station.
In S200 of this embodiment, as a preferred embodiment, obtaining the positioning information of the rectangular coordinate system in the three-dimensional space according to the satellite signal of the top end of the boom of the crane and the RTK differential data may include the following steps:
s201, obtaining carrier data volume and coordinate information of a set position at the bottom end of a crane jib according to the RTK differential data;
and S202, taking the coordinate information as a reference point, and settling the data volume of the carrier wave to obtain the positioning information of the three-dimensional rectangular coordinate system where the set position (positioning point) at the top end of the crane jib is located.
The obtained positioning information of the rectangular coordinate system of the three-dimensional space comprises:
the positional information on the X, Y, Z three direction of the position is set for crane davit low end to the setpoint, wherein: the X axis and the Y axis are on the horizontal plane of the earth, the Y axis is coincident with the true north direction of the earth, the X axis is vertical to the Y axis, and the Z axis is coincident with the plumb line of the earth.
In S300 of this embodiment, as a preferred embodiment, acquiring the orientation information between two points set near the top end of the crane boom in the top-to-bottom direction may include the following steps:
and arranging the main antenna at the top end of the crane boom in a master-slave antenna mode, and arranging the slave antenna at a position which is m meters away from the top end of the crane boom to obtain the directional information from the main antenna to the slave antenna.
Further, as a preferred embodiment, m is 2.
In S300 of this embodiment, as a preferred embodiment, acquiring the orientation information between two points set near the bottom end in the direction from the bottom end to the top end of the crane boom may include the following steps:
and arranging the main antenna at the bottom end of the crane boom in a master-slave antenna mode, and arranging the slave antenna at a position n meters away from the bottom end of the crane boom to obtain the directional information from the main antenna to the slave antenna.
Further, as a preferred embodiment, n is 5.
Further, as a preferred embodiment, the orientation information may include: the included angle between the projection of the antenna vector line on the horizontal plane and the true north direction of the earth (namely, deflection angle) and the included angle between the master antenna vector line and the slave antenna vector line on the horizontal plane of the earth (namely, pitch angle).
In S400 of this embodiment, as a preferred embodiment, the projection calculation to obtain a two-dimensional radar map according to the positioning information and the orientation information includes:
s401, filtering and resolving are carried out on the positioning information and the orientation information to obtain two vector lines in a three-dimensional rectangular coordinate system; the method specifically comprises the following steps:
acquiring positioning information and orientation information of the top end and the bottom end of the crane boom respectively, wherein the positioning point of the top end of the crane boom is (x1, y1, z1) and the direction is (a 1, θ 1), the positioning point of the bottom end of the crane boom is (x0, y0, z0) and the direction is (a 0, θ 0);
then:
the rectangular coordinate system vector line at the top end of the suspension arm of the crane is as follows:
the rectangular coordinate system vector line of the bottom end of the suspension arm of the crane is as follows:
s402, a two-dimensional radar map is obtained by projecting the vector lines onto a two-dimensional plane by using the vector lines.
In this embodiment, as a preferred embodiment, the method may further include the steps of:
and S500, sending the two-dimensional radar map to a display terminal.
Fig. 2 is a schematic structural diagram of a detection system for a sidewise bending of a boom of a heavy-duty crane according to an embodiment of the present invention.
As shown in fig. 2, the detection system for the sidewise bending of the boom of the heavy-duty crane provided by this embodiment may include: a base station system, a positioning system and an information processing system; wherein:
the base station system comprises a base station module, a base station main antenna and a base station slave antenna; the base station module is arranged at the bottom end of a crane boom and used for acquiring satellite signals and sending RTK differential data to the positioning system through the radio station; the base station main antenna is arranged at the bottom end of the crane boom, the base station slave antenna is arranged at a position close to the bottom end in the direction from the bottom end to the top end of the crane boom, and the base station module acquires directional information from the base station main antenna to the base station slave antenna and sends the directional information to the information processing system;
the positioning system comprises a positioning module, a positioning main antenna and a positioning auxiliary antenna; the positioning module is arranged at the top end of a crane boom and used for receiving RTK differential data, carrying out differential settlement according to satellite signals of the positioning module, obtaining positioning information of a three-dimensional rectangular coordinate system with a base station as a central point and sending the positioning information to the information processing system; the positioning main antenna is arranged at the top end of the crane boom, the positioning slave antenna is arranged at a position close to the top end in the direction from the top end to the bottom end of the crane boom, and the positioning module acquires directional information from the positioning main antenna to the positioning slave antenna and sends the directional information to the information processing system;
the information processing system carries out filtering calculation according to the received information to obtain two vector lines in a three-dimensional rectangular coordinate system, and a two-dimensional radar chart is obtained through projection calculation; the center point of the radar map is a projection point of the suspension arm in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the suspension arm is bent, and the distance between the deflection point and the projection point is the distance of deflection of the bending of the suspension arm.
In this embodiment, as a preferred embodiment, the system may further include a control terminal, the control terminal being in communication connection with the information processing system;
the control terminal comprises a display module and a console; wherein:
the display module is used for displaying a two-dimensional radar map;
the console is used for realizing any one or more of the following functions through the information processing system:
-parameter adjustments to the base station system and/or the positioning system;
-base station position calibration of the base station system;
-setting a station frequency band;
-an alarm module is provided, which presets a distance threshold value, and alarms when the offset distance is greater than or equal to the distance threshold value;
-acquiring a current two-dimensional radar map in real time.
The technical solutions provided by the above embodiments of the present invention are further described in detail below with reference to the accompanying drawings.
The detection system for the sidewise pulling and lateral bending of the boom of the heavy crane provided by the embodiment of the invention mainly comprises three parts, as shown in fig. 2, including: positioning system, base station system and information processing system.
The base station system is arranged at the bottom end of the suspension arm, a main antenna of the suspension arm system is arranged at the bottom end of the suspension arm, and the auxiliary antenna is arranged at a position about 5 meters from the bottom end to the top end of the suspension arm. The base station system acquires satellite signals at the bottom end of the suspension arm, sends RTK differential data to the positioning system through the radio station, and outputs directional data of the master antenna and the slave antenna to the information processing system.
The positioning system is arranged at the top end of the suspension arm, a main antenna of the positioning system is arranged at the top end of the suspension arm, and the auxiliary antenna is arranged at a position which is about 2 meters away from the top end to the bottom end of the suspension arm. The positioning system obtains positioning data according to RTK differential data output by the base station system and satellite signals of the positioning system and outputs the positioning data to the information processing system, and meanwhile directional data of a top master-slave antenna are output to the information processing system.
The information processing system can be installed in a cab and receives positioning data and orientation data transmitted by other systems through a radio station. And filtering and calculating the data, wherein the calculated data transmitted by the base station system is a vector line which takes the bottom end of the suspension arm as a starting point and the direction of the bottom end of the suspension arm pointing to the arm body as an extension line, and the extension line of the vector line is a virtual line in an ideal state when the suspension arm is not bent. After the data transmitted by the positioning system is resolved, a vector line which takes the top end of the suspension arm as a starting point and the direction of the top end of the suspension arm pointing to the arm body as an extension line is formed, the extension line of the vector line is a virtual line formed by bending the top end of the suspension arm, and a complementary angle of an included angle between the virtual line and the virtual line of the suspension arm in an ideal state is an angle for bending the suspension arm. And the distance from the positioning point at the top end of the suspension arm to the virtual line in the ideal state is the offset distance of the bending of the suspension arm.
Positioning points at the top end of the suspension arm and the bottom end of the suspension arm and the direction from the main antenna to the slave antenna can be obtained through a positioning system, a base station system and a directional system mainly composed of the main antenna and the slave antenna.
Setting a boom top end positioning point as (x1, y1, z1) direction as (alpha 1, theta 1) and a boom bottom end positioning point as (x0, y0, z0) direction as (alpha 0, theta 0);
then:
the rectangular coordinate system vector line at the top end of the suspension arm is as follows:
then:
the rectangular coordinate system vector line of the bottom end of the suspension arm is as follows:
from the above formula, the included angle between the two vector lines is:
after the detection system is started, a base station system at the bottom end of the suspension arm acquires satellite signals, RTK differential data are sent out through a radio station, a positioning system at the top end of the suspension arm receives the differential data, differential solution is carried out according to the satellite signals of the positioning system, and high-precision positioning information of a three-dimensional space rectangular coordinate system with the base station module as a central point is acquired. And simultaneously, the master and slave antennas of the base station system and the positioning system acquire orientation information (namely azimuth information) from the master antenna to the slave antenna in real time, wherein the information comprises an included angle (deflection angle) between the projection of a vector line of the master and slave antennas on the horizontal plane and the true north direction of the earth and an included angle (pitch angle) between the vector line of the master and slave antennas and the horizontal plane of the earth. The base station system and the positioning system simultaneously send positioning information and orientation information to the information processing system, the information processing system can obtain two vector lines in a three-dimensional rectangular coordinate system through filtering calculation, a two-dimensional radar map can be obtained through projection calculation, the central point of the radar map is a projection point of the suspension arm in an ideal state, a position data point of the radar map is a deflection point projected on the radar map after the suspension arm is bent, and the distance between the point and the central point is the distance of deflection of the bending of the suspension arm. And the information processing system sends the resolved data to a control terminal of the cab through a CAN bus.
The detection system may include a control terminal, which may be installed in the cab. The driver can configure some parameters of the system at the control terminal, including but not limited to a bending alarm threshold, a resolution, a refresh frequency, a radio station frequency band, a working mode selection (working mode, wakeup mode, sleep mode), a base station position calibration, a deviation rectification configuration, and the like. The CAN bus is transmitted to the information processing system, and after the information processing system identifies the instruction, different systems (a positioning system and a base station system) are configured according to different instructions.
As shown in fig. 3, the projected radar chart is a vertical cross section of the boom in an ideal state, the point on the projection is a positioning point of the top end of the boom in an actual state, and the point in the center of the radar chart is a positioning point of the bottom end of the boom after projection and is also a positioning point of the top end of the boom in an ideal state. The distance r is the offset distance of the top end of the suspension arm in an ideal state and an actual state, and the larger the offset distance is, the more serious the bending degree of the suspension arm is.
As shown in fig. 4, which is a state model diagram of two vector lines, a vector line I passing through the center point of the coordinate system is a vector line formed by the master and slave antennas at the bottom end of the boom, and another vector line II is a vector line formed by the master and slave antennas at the top end of the boom.
As shown in fig. 5, the ideal state extension line is a vector line formed by the master and slave antennas at the bottom end of the boom, and the actual state extension line is a vector line formed by the master and slave antennas at the top end of the boom. The plane of the x axis and the y axis is a vertical section of the suspension arm in an ideal state, a radar chart on the right side is obtained by projection from the direction of an extension line of the ideal state, and the distance d is the offset distance of positioning points at the top end of the suspension arm in the ideal state and the actual state. The radar point shows that the suspension arm bends upwards on the Y-axis front half shaft of a radar chart, the suspension arm bends downwards on the Y-axis rear half shaft, the suspension arm bends rightwards on the x-axis front half shaft, and the suspension arm bends leftwards on the x-axis rear half shaft. The stress bending direction of the suspension arm and the stress degree in each direction can be judged through the quadrant where the positioning points are located. The operator can conveniently and quickly determine the bending stress direction of the suspension arm.
When a large crane is used for corresponding work, for example, the large crane is used for hoisting a wind generating set, the length of the suspension arm reaches hundreds of meters, an operator can hardly accurately judge the bending degree of the suspension arm with naked eyes, multiple persons are required to assist in observation, and years of experience of the operator is accumulated, so that the labor cost is high, and the risk of breakage is easily caused by lateral bending of the suspension arm due to lateral pulling, and the loss without estimation is caused. By adopting the detection method and the detection system provided by the embodiment of the invention, an operator can visually check the bending state of the suspension arm from the central control screen, the bending state comprises the specific bending angle value of the suspension arm and the offset distance of the top end of the suspension arm, an alarm prompt can be given in a critical range, each step of operation and control can be dynamically displayed on the screen in real time, additional workers are not needed for auxiliary observation, the efficiency is high, and the risk and the cost are greatly reduced.
The method and system for detecting the sidewise bending of the boom of the heavy crane provided by the above embodiment of the invention adopt a high-precision positioning and orienting technology based on RTK (Real-time kinematic) to obtain the position and direction of the boom in an ideal state and compare with the position and direction in a current actual state, so as to obtain the accurate bending angle of the boom and the accurate offset distance of the top end of the boom due to the bending of the boom, and visually display the data on the central control screen of an operator in the form of a radar map, so that the operator can intuitively and accurately know the bending degree of the boom only through the screen, the quantized data enables the operator to judge without depending on experience, even a novice can quickly master the judgment of the bending degree of the boom through the radar map, and the same judgment level of the operator with years of operation experience is achieved, greatly reducing the artificial culture cost and the risk cost.
It should be noted that, the steps in the method provided by the present invention may be implemented by using corresponding modules, devices, units, and the like in the system, and those skilled in the art may implement the composition of the system by referring to the technical solution of the method, that is, the embodiment in the method may be understood as a preferred example for constructing the system, and will not be described herein again.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. The method for detecting the sidewise bending of the suspension arm of the heavy crane is characterized by comprising the following steps of:
respectively acquiring satellite signals of set positions of the top end and the bottom end of a crane jib, and generating RTK differential data according to the satellite signals of the bottom end of the crane jib;
obtaining positioning information of a three-dimensional rectangular coordinate system according to the satellite signal at the top end of the crane jib and the RTK differential data;
respectively acquiring orientation information between two set points which are arranged from the top end to the bottom end of the crane jib and are close to the top end and orientation information between two set points which are arranged from the bottom end to the top end of the crane jib and are close to the bottom end;
according to the positioning information and the orientation information, performing projection calculation to obtain a two-dimensional radar map; wherein:
the center point of the radar map is a projection point of the crane jib in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the crane jib is bent, the distance between the deflection point and the projection point is the distance of the crane jib bending deflection, and the detection of the side-pulling and side-bending of the crane jib is completed.
2. The method of claim 1, wherein the obtaining a satellite signal of the top end of the boom comprises:
and installing a positioning system at a set position at the top end of the crane jib, wherein the obtained satellite signal of the positioning system is the satellite signal at the top end of the crane jib.
3. The method of detecting heavy crane boom sidewise camber as claimed in claim 1, wherein said acquiring a crane boom base end satellite signal and generating RTK differential data from said crane boom base end satellite signal comprises:
and installing a base station system at a set position at the bottom end of the suspension arm of the crane to acquire a satellite signal, and sending RTK differential data through a radio station.
4. The method for detecting the sidewise pulling lateral bending of a heavy lift truck boom of claim 1,
the obtained positioning information of the rectangular coordinate system of the three-dimensional space comprises:
the crane jib top setpoint sets up the positional information on the X, Y, the Z three direction of position for the crane jib low end, wherein: the X axis and the Y axis are on the horizontal plane of the earth, the Y axis is coincident with the true north direction of the earth, the X axis is vertical to the Y axis, and the Z axis is coincident with the plumb line of the earth.
5. The method for detecting the sidewise pulling and side bending of the boom of a heavy duty crane according to claim 1, wherein said obtaining the orientation information between two points set up in the direction from the top end to the bottom end of the boom and close to the top end comprises:
arranging a main antenna at the top end of the crane boom in a main-auxiliary antenna mode, arranging an auxiliary antenna at a position which is m meters away from the top end of the crane boom, and acquiring directional information from the main antenna to the auxiliary antenna;
the acquiring of the orientation information between the two set points on the direction from the bottom end to the top end of the crane jib and close to the bottom end comprises the following steps:
and arranging a main antenna at the bottom end of the crane boom in a main-auxiliary antenna mode, and arranging a slave antenna at a position n meters away from the bottom end of the crane boom to obtain the directional information from the main antenna to the slave antenna.
6. The method of detecting a heavy crane boom sidewise camber as claimed in claim 5, wherein said orientation information comprises: the included angle between the projection of the antenna vector line on the horizontal plane and the true north direction of the earth is a deflection angle, and the included angle between the master antenna vector line and the slave antenna vector line on the horizontal plane of the earth is a pitch angle.
7. The method for detecting the sidewise pulling lateral bending of the boom of the heavy-duty crane according to claim 1, wherein the step of obtaining a two-dimensional radar map by projection calculation according to the positioning information and the orientation information comprises the steps of:
filtering and resolving the positioning information and the orientation information to obtain two vector lines in a three-dimensional rectangular coordinate system, wherein the two vector lines comprise:
acquiring positioning information and orientation information of the top end and the bottom end of the crane boom respectively, wherein the positioning point of the top end of the crane boom is (x1, y1, z1) and the direction is (a 1, θ 1), the positioning point of the bottom end of the crane boom is (x0, y0, z0) and the direction is (a 0, θ 0);
then:
the rectangular coordinate system vector line at the top end of the suspension arm of the crane is as follows:
the rectangular coordinate system vector line of the bottom end of the suspension arm of the crane is as follows:
and obtaining a two-dimensional radar map by projecting the vector lines onto a two-dimensional plane by using the vector lines.
8. The method for detecting a heavy crane boom sidewise pulling lateral camber as claimed in any one of claims 1 to 7, further comprising:
and sending the two-dimensional radar map to a display terminal.
9. The utility model provides a heavy crane davit draws detecting system of lateral buckling which characterized in that includes: a base station system, a positioning system and an information processing system; wherein:
the base station system comprises a base station module, a base station main antenna and a base station slave antenna; the base station module is arranged at the bottom end of a crane boom and used for acquiring satellite signals and sending RTK differential data to the positioning system through a radio station; the base station main antenna is arranged at the bottom end of the crane boom, the base station slave antenna is arranged at a position close to the bottom end in the direction from the bottom end to the top end of the crane boom, and the base station module acquires directional information from the base station main antenna to the base station slave antenna and sends the directional information to the information processing system;
the positioning system comprises a positioning module, a positioning main antenna and a positioning auxiliary antenna; the positioning module is arranged at the top end of a crane boom and used for receiving the RTK differential data, performing differential settlement according to a satellite signal of the positioning module, obtaining positioning information of a three-dimensional rectangular coordinate system with the base station module as a central point and sending the positioning information to the information processing system; the positioning main antenna is arranged at the top end of the crane boom, the positioning slave antenna is arranged at a position close to the top end in the direction from the top end to the bottom end of the crane boom, and the positioning module acquires directional information from the positioning main antenna to the positioning slave antenna and sends the directional information to the information processing system;
the information processing system carries out filtering calculation according to the received information to obtain two vector lines in a three-dimensional rectangular space coordinate system, and a two-dimensional radar chart is obtained through projection calculation; the center point of the radar map is a projection point of the suspension arm in an ideal state, the position data point of the radar map is a deflection point projected on the radar map after the suspension arm is bent, and the distance between the deflection point and the projection point is the distance of deflection of the suspension arm in bending.
10. The heavy lift crane boom sidewise bending detection system of claim 9, further comprising a control terminal communicatively connected to said information processing system;
the control terminal comprises a display module and a console; wherein:
the display module is used for displaying the two-dimensional radar map;
the console, through the information processing system, implements any one or more of the following functions:
-making parameter adjustments to the base station system and/or the positioning system;
-base station position calibration of the base station system;
-setting the station frequency band;
-an alarm module is provided, which presets a distance threshold value, and alarms when the offset distance is greater than or equal to the distance threshold value;
-acquiring a current two-dimensional radar map in real time.
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Denomination of invention: Detection method and detection system for lateral bending of heavy crane boom Granted publication date: 20230203 Pledgee: Minhang Branch of Shanghai Rural Commercial Bank Co.,Ltd. Pledgor: Shanghai Haibo Intelligent Technology Co.,Ltd. Registration number: Y2024310000088 |
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